sl-android
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f49e84b8bb
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feat: Phone-based motor test joystick app (Issue #513)
Implements terminal-based curses UI for interactive bench testing of SaltyBot motors via Termux.
Features:
- Interactive keyboard-based joystick (W/A/S/D or arrow keys)
- Conservative velocity defaults: 0.1 m/s linear, 0.3 rad/s angular
- Real-time velocity feedback with bar graphs
- Spacebar e-stop (instantly zeros velocity)
- 500ms timeout safety (sends zero velocity if idle)
- Dual backend: ROS2 (/cmd_vel) or WebSocket
- Graceful fallback if ROS2 unavailable
Safety Features:
- Conservative defaults (0.1/0.3 m/s)
- E-stop button (spacebar)
- 500ms timeout (sends zero if idle)
- Input clamping and exponential decay
- Status/warning displays
Files:
- motor_test_joystick.py: Main application
- MOTOR_TEST_JOYSTICK.md: User documentation
- INSTALL_MOTOR_TEST.md: Installation guide
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-06 11:47:15 -05:00 |
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sl-android
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df49eec21f
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feat: Android/Termux OpenClaw node (Issue #420)
Add complete phone node infrastructure:
ROS2 Package (saltybot_phone):
- camera_node: /phone/camera/image_raw (320x240, 15 FPS)
- gps_node: /phone/gps (NavSatFix via termux-api)
- imu_node: /phone/imu (accelerometer data)
- openclaw_chat_node: Local LLM inference
Subscribes /saltybot/speech_text
Publishes /saltybot/chat_response
- ws_bridge: WebSocket bridge to Jetson Orin (:9090)
Phone Scripts:
- termux-bootstrap.sh: Complete Termux setup
- power-management.sh: Battery/thermal monitoring
- README.md: Setup documentation
Architecture:
- Termux on Android phone
- WiFi/USB tether to Jetson Orin
- ROS2 topic bridge for sensors
- Local LLM for on-device chat (Phi-2)
- Termux:Boot auto-start
- Power management for extended runtime
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-05 08:55:47 -05:00 |
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